IMPROVED METHOD FOR STEREO VISION-BASED HUMAN DETECTION FOR A MOBILE ROBOT FOLLOWING A TARGET PERSON

Badar Ali, Yasar Ayaz, Mohsin Jamil, Syed Omer Gilani, Naveed Muhammad

Abstract


Interaction between humans and robots is a fundamental need for assistive and service robots. Their ability to detect and track people is a basic requirement for interaction with human beings. This article presents a new approach to human detection and targeted person tracking by a mobile robot. Our work is based on earlier methods that used stereo vision-based tracking linked directly with Hu moment-based detection. The earlier technique was based on the assumption that only one person is present in the environment – the target person – and it was not able to handle more than this one person. In our novel method, we solved this problem by using the Haar-based human detection method, and included a target person selection step before initialising tracking. Furthermore, rather than linking the Kalman filter directly with human detection, we implemented the tracking method before the Kalman filter-based estimation. We used the Pioneer 3AT robot, equipped with stereo camera and sonars, as the test platform.


Keywords


Human Detection, Human Tracking, Service Robot, Haar cascade classifier, Mean Shift, LK Optical Flow, Particle Filter, Kalman Filter, Stereo Vision

Full Text:

PDF


DOI: https://doi.org/10.7166/26-1-891

Refbacks

  • There are currently no refbacks.




Copyright (c) 2015 The South African Journal of Industrial Engineering


ISSN 2224-7890 (on-line) ; ISSN 1012-277X (print)


Powered by OJS and hosted by Stellenbosch University Library and Information Service since 2011.


Disclaimer:

This journal is hosted by the SU LIS on request of the journal owner/editor. The SU LIS takes no responsibility for the content published within this journal, and disclaim all liability arising out of the use of or inability to use the information contained herein. We assume no responsibility, and shall not be liable for any breaches of agreement with other publishers/hosts.

SUNJournals Help